Setting up ROS on a Raspberry Pi (intended to be the Rover -- OpenMower)

Steps to install Raspberry Pi 4 with Ubuntu 20, ROS 1 and OpenMower

Use this as guide https://x-tech.online/2022/01/installing-ros-noetic-on-a-headless-raspberry-pi-4-with-ubuntu-20-04/
- Use the Raspberry Pi official imager
- Use Ubuntu Server 20.04.4 LTS (RPI 3/4/400), 64 bit for the RPi4 (or the latest LTS version of Ubuntu Server 20, it should probably work, since ROS Noetic is runnining on Ubuntu 20)
- Follow the guide, doing upgrades before ROS install, sudo apt update, sudo apt upgrade
To get the ROS environment right in all your bash terminals: echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
Log out and in again to have ROS sourced in bash
Follow instructions in https://github.com/ClemensElflein/OpenMower/tree/main/ROS
- Clone main repo, recursively git clone --recurse-submodules https://github.com/ClemensElflein/OpenMower
- sudo apt install python3-rosdep
- sudo rosdep init
- rosdep update
- cd ~/OpenMower/ROS/
- rosdep install --from-paths src --ignore-src -y
catkin_make to build OpenMower. Note: Due to a missing dependency, you may need to do it 3-4 times before getting success. If continued application of catkin_make does not work, try using catkin_make -j1 -l1 a few times as well.

The instructions here work for installing an Ubuntu 20 with Wifi enabled: https://x-tech.online/2022/01/installing-ros-noetic-on-a-headless-raspberry-pi-4-with-ubuntu-20-04/. However, it takes one or two boots before the Pi comes up on Wifi. So use a terminal or ssh for the first couple of boots.